Add endstops, light_sensor, test, many fixes

- Added endstop and light_sensor module
 - Improved configuration by splitting wiring configs to boards.h
 - Added a unit test for argument parsing
 - Fixed many smaller bugs

README.md

@@ -1,8 +1,8 @@
 # Firmware code for the sangaboard
 
-*This firmware is Work in Progress and has not reached feature parity with the original yet (see below for more details)*
+*This firmware is Work in Progress and while it should now support all features of the original, many features are untested.*
 
-Firmware for the control board of OpenFlexure Microscope. This is a refactor of the [original arduino code](https://gitlab.com/bath_open_instrumentation_group/sangaboard/-/blob/master/arduino_code/README.md) with some improvements to the infrastructure and features.
+Firmware for the control board of OpenFlexure Microscope. This is a refactor of the [original arduino code](https://gitlab.com/bath_open_instrumentation_group/sangaboard/-/blob/master/arduino_code) with some improvements to the infrastructure and features.
 
 ## Notable changes
 This version of the firmware uses PlatformIO rather than Arduino IDE.
@@ -11,6 +11,8 @@ The code is split into the main part which mostly handles command parsing and mo
 
 Motor moves now do not block command processing and a new command `stop` was added which aborts any move in progress.
 
+The firware can be build against different platforms (pi pico, stm32). `boards.h` contains wiring configuration which will need to be adjusted when used with a custom board.
+
 ## Hardware
 
 Currently works on Arduino Nano + Sangaboard v0.2. Other platforms might work with appropriate `platform.ini` and `config.h` changes and will be supported in due course.
@@ -18,14 +20,22 @@ Currently works on Arduino Nano + Sangaboard v0.2. Other platforms might work wi
 ## TODO list
 
 ### Original firmware feature parity
-  - [ ] Implement Endstops module
-  - [ ] Implement Light sensor modules
-  - [ ] Handle Sangaboardv3
+  - [x] Implement Endstops module
+  - [x] Implement Light sensor modules
+  - [x] Handle Sangaboardv3
+
+### Testing
   - [ ] Ensure responses to commands match the original version
+  - [ ] Test endstop modules
+  - [ ] Test Light sensor module
+  - [ ] Test on different platforms
 
 ### Improvements and fixes
   - [ ] Add a CI script
-  - [ ] Add tests (argument parsing)
+  - [x] Add test for argument parsing
+  - [ ] Add more unit tests
   - [ ] Test automatic building and upload
-  - [ ] Support other platforms
-  - [ ] Clean up some of the messier bits
+  - [x] Support other platforms
+  - [ ] Clean up
+  - [ ] Improve handling of unused modules/libraries
+  - [ ] Lower RAM use